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<a href="fcl__transform_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * fcl_transform.h</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Created on: Apr 21, 2018</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Author: Vitaliy Rusinov</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> */</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;</div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#ifndef COLLISION_FCL_FCL_TRANSFORM_H_</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#define COLLISION_FCL_FCL_TRANSFORM_H_</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &lt;Eigen/Dense&gt;</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="fcl__decl_8h.html">collision/solvers/fcl/fcl_decl.h</a>&quot;</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &lt;fcl/narrowphase/collision_object.h&gt;</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacecollision.html">collision</a> {</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="keyword">namespace </span>solvers {</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="keyword">namespace </span>solverFCL {</div><div class="line"><a name="l00019"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_transform.html">   19</a></span>&#160;<span class="keyword">class </span><a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_transform.html">FCLTransform</a> {</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00021"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_transform.html#a935670629c2be969015c0b79419eb4c0">   21</a></span>&#160;  <span class="keyword">static</span> <span class="keywordtype">double</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_transform.html#a935670629c2be969015c0b79419eb4c0">fcl_get_radian_angle</a>(<span class="keyword">const</span> Eigen::Vector2d &amp;Axis) {</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;    <span class="keywordtype">double</span> norm = Axis.norm();</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;    <span class="keywordtype">double</span> x_norm = Axis.x() / norm;</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;    <span class="keywordtype">double</span> angle = std::acos(x_norm);</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;    <span class="keywordflow">if</span> (Axis.y() &lt; 0)</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;      angle *= -1;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;    <span class="keywordflow">return</span> angle;</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;  }</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;  <span class="keyword">static</span> fcl::Transform3&lt;FCL_PRECISION&gt;</div><div class="line"><a name="l00030"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_transform.html#a9eb07527b07f8c286ed869c9a186b518">   30</a></span>&#160;  <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_transform.html#a9eb07527b07f8c286ed869c9a186b518">fcl_get_3d_translation</a>(<span class="keyword">const</span> Eigen::Vector2d &amp;pos) {</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;    <span class="keywordflow">return</span> fcl::Transform3&lt;FCL_PRECISION&gt;(fcl::Translation3&lt;FCL_PRECISION&gt;(</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;        fcl::Vector3&lt;FCL_PRECISION&gt;(pos.x(), pos.y(), 0)));</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;  }</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;  <span class="keyword">static</span> fcl::Transform3&lt;FCL_PRECISION&gt;</div><div class="line"><a name="l00036"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_transform.html#ad5d89de64facab23bda12382a793c50e">   36</a></span>&#160;  <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_transform.html#ad5d89de64facab23bda12382a793c50e">fcl_get_3d_rotation_translation</a>(<span class="keyword">const</span> Eigen::Vector2d &amp;pos,</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;                                  <span class="keyword">const</span> Eigen::Vector2d &amp;x_axis) {</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;    fcl::Transform3&lt;FCL_PRECISION&gt; trans = <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_transform.html#a9eb07527b07f8c286ed869c9a186b518">fcl_get_3d_translation</a>(pos);</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;    trans.rotate(fcl::AngleAxis&lt;FCL_PRECISION&gt;(</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;        <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_transform.html#a935670629c2be969015c0b79419eb4c0">fcl_get_radian_angle</a>(x_axis), fcl::Vector3&lt;FCL_PRECISION&gt;::UnitZ()));</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    <span class="keywordflow">return</span> trans;</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;  }</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;  <span class="keyword">static</span> fcl::Transform3&lt;FCL_PRECISION&gt;</div><div class="line"><a name="l00044"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_transform.html#a25710d41e8fdbd3055e7261c3a66561b">   44</a></span>&#160;  <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_transform.html#a25710d41e8fdbd3055e7261c3a66561b">fcl_get_3d_rotation_translation</a>(<span class="keyword">const</span> Eigen::Vector2d &amp;pos, <span class="keywordtype">double</span> angle) {</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    fcl::Transform3&lt;FCL_PRECISION&gt; trans = <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_transform.html#a9eb07527b07f8c286ed869c9a186b518">fcl_get_3d_translation</a>(pos);</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    trans.rotate(fcl::AngleAxis&lt;FCL_PRECISION&gt;(</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;        angle, fcl::Vector3&lt;FCL_PRECISION&gt;::UnitZ()));</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    <span class="keywordflow">return</span> trans;</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  }</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;};</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;} <span class="comment">// namespace solverFCL</span></div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;} <span class="comment">// namespace solvers</span></div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;} <span class="comment">// namespace collision</span></div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* COLLISION_FCL_FCL_TRANSFORM_H_ */</span><span class="preprocessor"></span></div><div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_transform_html_ad5d89de64facab23bda12382a793c50e"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_transform.html#ad5d89de64facab23bda12382a793c50e">collision::solvers::solverFCL::FCLTransform::fcl_get_3d_rotation_translation</a></div><div class="ttdeci">static fcl::Transform3&lt; FCL_PRECISION &gt; fcl_get_3d_rotation_translation(const Eigen::Vector2d &amp;pos, const Eigen::Vector2d &amp;x_axis)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__transform_8h_source.html#l00036">fcl_transform.h:36</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_transform_html_a9eb07527b07f8c286ed869c9a186b518"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_transform.html#a9eb07527b07f8c286ed869c9a186b518">collision::solvers::solverFCL::FCLTransform::fcl_get_3d_translation</a></div><div class="ttdeci">static fcl::Transform3&lt; FCL_PRECISION &gt; fcl_get_3d_translation(const Eigen::Vector2d &amp;pos)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__transform_8h_source.html#l00030">fcl_transform.h:30</a></div></div>
<div class="ttc" id="namespacecollision_html"><div class="ttname"><a href="namespacecollision.html">collision</a></div><div class="ttdef"><b>Definition:</b> <a href="collision__checker_8h_source.html#l00020">collision_checker.h:20</a></div></div>
<div class="ttc" id="fcl__decl_8h_html"><div class="ttname"><a href="fcl__decl_8h.html">fcl_decl.h</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_transform_html_a935670629c2be969015c0b79419eb4c0"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_transform.html#a935670629c2be969015c0b79419eb4c0">collision::solvers::solverFCL::FCLTransform::fcl_get_radian_angle</a></div><div class="ttdeci">static double fcl_get_radian_angle(const Eigen::Vector2d &amp;Axis)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__transform_8h_source.html#l00021">fcl_transform.h:21</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_transform_html"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_transform.html">collision::solvers::solverFCL::FCLTransform</a></div><div class="ttdef"><b>Definition:</b> <a href="fcl__transform_8h_source.html#l00019">fcl_transform.h:19</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_transform_html_a25710d41e8fdbd3055e7261c3a66561b"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_transform.html#a25710d41e8fdbd3055e7261c3a66561b">collision::solvers::solverFCL::FCLTransform::fcl_get_3d_rotation_translation</a></div><div class="ttdeci">static fcl::Transform3&lt; FCL_PRECISION &gt; fcl_get_3d_rotation_translation(const Eigen::Vector2d &amp;pos, double angle)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__transform_8h_source.html#l00044">fcl_transform.h:44</a></div></div>
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